A humanoid robot and its balance control method and computer readable storage medium are provided. Expected accelerations of each of a sole and centroid of a humanoid robot corresponding to a current expected balance trajectory and an expected angular acceleration of the waist corresponding to the current expected balance trajectory are obtained based on current motion data of the sole, the centroid, and the waist, respectively first, then an expected angular acceleration of each joint meeting control requirements of the sole, the centroid, and the waist while the robot corresponds to the current expected balance trajectory is calculated based on an angular velocity of the joint, the expected accelerations of the waist, the sole, and the centroid, respectively, and then each joint of the robot is controlled to move at the obtained expected angular acceleration of the joint based on the angular displacement of the joint.
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6. The method of claim 1, wherein the angular velocity and the angular displacement of each joint of the humanoid robot and the motion data of the sole of the humanoid robot, the motion data of the centroid of the humanoid robot, and the motion data of the waist of the humanoid robot are obtained by monitoring the angular velocity and the angular displacement of each joint of the humanoid robot, and collecting the motion data of the sole of the humanoid robot, the motion data of the centroid of the humanoid robot, and the motion data of the waist of the humanoid robot in real time through a sensing unit of the humanoid robot.
7. The method of claim 1, wherein control algorithms used by preset control functions corresponding to different balance control parts are same or different.
8. The method of claim 7, wherein the preset control function corresponding to the balance control part further comprises a preset control function for the centroid of the humanoid robot, and wherein the preset control function for the centroid of the humanoid robot uses any one of the PID control algorithm, the PI control algorithm, the PD control algorithm and the P control algorithm.
9. The method of claim 1, wherein the preset control function corresponding to the balance control part comprises a preset control function for the sole of the humanoid robot, and wherein the preset control function for the sole of the humanoid robot uses any one of PID control algorithm, PI control algorithm, PD control algorithm and P control algorithm.
10. The method of claim 1, wherein the preset control function corresponding to the waist uses any one of PID control algorithm, PI control algorithm, PD control algorithm, and P control algorithm.
12. The robot of claim 11, wherein the instructions for calculating the first null space matrix for the sole, based on the angular velocity of each joint and the motion speed of the sole comprise: instructions for calculating a first relationship mapping matrix between the motion speed of the sole and the angular velocity of each joint; instructions for performing a matrix pseudo-inverse operation on the first relationship mapping matrix to obtain a corresponding first pseudo-inverse matrix; and instructions for performing a matrix subtraction operation on an identity matrix and a matrix obtained by multiplying the first relationship mapping matrix and the first pseudo-inverse matrix to obtain the corresponding first null space matrix.
17. The non-transitory computer readable storage medium of claim 16, wherein the instructions for calculating the first null space matrix for the sole, based on the angular velocity of each joint and the motion speed of the sole comprise: instructions for calculating a first relationship mapping matrix between the motion speed of the sole and the angular velocity of each joint; instructions for performing a matrix pseudo-inverse operation on the first relationship mapping matrix to obtain a corresponding first pseudo-inverse matrix; and instructions for performing a matrix subtraction operation on an identity matrix and a matrix obtained by multiplying the first relationship mapping matrix and the first pseudo-inverse matrix to obtain the corresponding first null space matrix.
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December 31, 2020
May 9, 2023
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